發(fā)布時(shí)間：2018-07-29 17:21

【摘要】：傳統(tǒng)的機(jī)器人多為剛性結(jié)構(gòu),在工作期間需要與外界環(huán)境進(jìn)行隔離。隨著科學(xué)技術(shù)的發(fā)展,工業(yè)機(jī)器人和服務(wù)機(jī)器人與外界環(huán)境之間的交互越來(lái)越多,使得機(jī)器人與外界環(huán)境的安全交互成為重大難題。為保證人與機(jī)器人的和諧安全相處,面向人機(jī)協(xié)作的機(jī)器人相繼問(wèn)世,機(jī)器人的輕量化和柔順化成為一個(gè)重要的發(fā)展趨勢(shì)。在機(jī)器人本體中,機(jī)械臂是其與外界環(huán)境頻繁接觸的重要部位,因此機(jī)械臂的輕量化和柔順化設(shè)計(jì)是實(shí)現(xiàn)人機(jī)交互安全性的重要途徑。本文設(shè)計(jì)了一款3DOF的輕型柔順機(jī)械臂,通過(guò)選用輕質(zhì)材料和結(jié)構(gòu)優(yōu)化的方法實(shí)現(xiàn)輕量化,引入彈性元件實(shí)現(xiàn)柔順化,利用柔順控制方案,實(shí)現(xiàn)機(jī)械臂與外界環(huán)境的柔順安全交互。本文的主要研究?jī)?nèi)容如下:模仿人體手臂結(jié)構(gòu)和尺寸,設(shè)計(jì)了一款3DOF的仿人機(jī)械臂,基于線性彈簧設(shè)計(jì)了串聯(lián)彈性驅(qū)動(dòng)器SEA,實(shí)現(xiàn)機(jī)械臂關(guān)節(jié)的柔順性;通過(guò)選用合適材料和零件的結(jié)構(gòu)優(yōu)化,實(shí)現(xiàn)輕量化;并對(duì)彈性元件進(jìn)行設(shè)計(jì)。對(duì)仿人機(jī)械臂進(jìn)行了特性分析:建立了機(jī)械臂的運(yùn)動(dòng)學(xué)模型,計(jì)算了運(yùn)動(dòng)學(xué)的正逆解、雅可比矩陣和工作空間;建立動(dòng)力學(xué)模型,求解了機(jī)械臂各關(guān)節(jié)的等效作用力矩。搭建機(jī)械臂的控制系統(tǒng),完成了對(duì)控制系統(tǒng)硬件的選型。利用上位機(jī)對(duì)驅(qū)動(dòng)舵機(jī)的位置PI和速度PI進(jìn)行了設(shè)置,并對(duì)壓力傳感器和MTI位姿傳感器進(jìn)行校正,提出了一種MTI位置修正的方法。模仿太極推平圓運(yùn)動(dòng),規(guī)劃了機(jī)械臂的末端運(yùn)動(dòng)軌跡,完成了在末端自由狀態(tài)下的位置跟隨性實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果表明,機(jī)械臂在末端自由狀態(tài)下具有較好的運(yùn)動(dòng)穩(wěn)定性和位置跟隨性,驗(yàn)證了機(jī)械臂設(shè)計(jì)的合理性;設(shè)計(jì)了基于末端力的主動(dòng)避障算法,實(shí)現(xiàn)了機(jī)械臂對(duì)任意障礙的柔順避障實(shí)驗(yàn),結(jié)果表明,機(jī)械臂能穩(wěn)定的躲避曲面形障礙,并能較好的恢復(fù)到規(guī)劃軌跡上,驗(yàn)證了機(jī)械臂的柔順性和安全性,證明了本文設(shè)計(jì)的柔順機(jī)械臂具有與外界環(huán)境的柔順交互能力和適應(yīng)能力。
[Abstract]:Traditional robots are rigid structures and need to be isolated from the outside environment during work. With the development of science and technology, there are more and more interactions between industrial robots and service robots and the outside environment, which makes the safe interaction between the robot and the outside environment become a major problem. In order to guarantee the harmonious and safe coexistence between the robot and the robot, the robot for man-machine cooperation has come out one after another, and the lightweight and flexibility of the robot has become an important development trend. In the robot body, the robot arm is an important part of its frequent contact with the outside environment, so the lightweight and compliant design of the robot arm is an important way to achieve the safety of human-computer interaction. In this paper, a lightweight 3DOF compliant manipulator is designed. The lightweight material and structure optimization method is used to realize the lightweight, the elastic element is introduced to achieve compliance, and the compliant control scheme is used. The robot arm and the external environment are interacted smoothly and safely. The main contents of this paper are as follows: simulating the structure and size of human arm, a 3DOF humanoid manipulator is designed. Based on the linear spring, a series elastic actuator, SEAA, is designed to achieve the flexibility of the manipulator joint. The light weight is realized by selecting suitable materials and parts, and the elastic elements are designed. The characteristics of the humanoid manipulator are analyzed: the kinematics model of the manipulator is established, the forward and inverse solutions of kinematics, Jacobian matrix and workspace are calculated, and the dynamic model is established to solve the equivalent moment of action of each joint of the manipulator. Build the control system of the manipulator and complete the hardware selection of the control system. The position Pi and velocity Pi of the driving steering gear are set up by the upper computer, and the pressure sensor and the MTI position and pose sensor are corrected, and a method of MTI position correction is proposed. The trajectory of the end motion of the manipulator is planned by imitating the motion of the Taiji push-flat circle, and the position following experiment under the free state of the end is completed. The experimental results show that, The robot arm has better motion stability and position following in the free end state, which verifies the rationality of the design of the manipulator, designs an active obstacle avoidance algorithm based on the terminal force, and realizes the experiment of the robot arm's compliance with any obstacle. The results show that the robot arm can avoid the curved surface obstacle stably, and can recover to the planning track well, which verifies the flexibility and safety of the robot arm. It is proved that the designed compliant manipulator has the flexibility interaction ability and adaptability with the outside environment.
【學(xué)位授予單位】：北京交通大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

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本文編號(hào)：2153432